A The proposed system developed an omnidirectional algorithm to control autonomous mobile robots with three wheels. implementation consists of Planet DC motors rated power 80 W for wheels, encoders speed feedback, one encoder distance and digital compass sensor angle feedback. main STM32F407 microcontroller is designed directional wheels based the signal received from then controls subsystems a...

A basic requirement for all mobile robots is a precise, accurate and fast perception of the environment to allow intelligent behavior through interaction with its surrounding. This paper introduces a new method for a reliable, fast and efficient purely omni-directional vision based mobile robot navigation for a closed world environment. The proposed method enables a robot that is driving at a h...

EyeSim is a multi-robot, multi-tasking simulation system that allows realistic simulation of mobile robots with either differential drive, Ackermann steering, or omni-directional Mechanum wheel drive. The software development kit (SDK) for EyeSim is identical to the RoBIOS operating system for the real EyeBot robots, including a virtual camera system. A realistic error model for sensors and act...

Designing the self-balancing two-wheeled mobile robots and reducing undesired vibrations are of great importance. For this purpose, the majority of researches are focused on application of relatively complex control approaches without improving the robot structure. Therefore, in this paper we introduce a new two-wheeled mobile robot which, despite its relative simple structure, fulfills the req...

This paper describes a new local avoidance method for indoor mobile robots. The method uses a directional method named the Beam Method to improve the performance of a local obstacle avoidance approach called Curvature Velocity Method (CVM). The proposed Beam Method employs radial distances provided by the robot sensors to calculate the best one-step headings. The CVM uses this information to ca...

In this paper, a new method was proposed for the navigation of a mobile robot in an unknown dynamic environment. The robot could detect only a limited radius of its surrounding with its sensors and it went on the shortest null space (SNS) toward the goal. In the case of no obstacle, SNS was a direct path from the robot to goal; however, in the presence of obstacles, SNS was a space around the r...

This paper considers the problem of vision-based control of a nonholonomic mobile robot. We describe the design and implementation of real-time estimation and control algorithms on a car-like robot platform using a single omni-directional camera as a sensor without explicit use of odometry. We provide experimental results for each of these vision-based control objects. The algorithms are packag...

Obviously navigation is one of the most complicated issues in mobile robots. Intelligent algorithms are often used for error handling in robot navigation. This Paper deals with the problem of Inertial Measurement Unit (IMU) error handling by using Extended Kalman Filter (EKF) as an Expert Algorithms. Our focus is put on the field of mobile robot navigation in the 2D environments. The main chall...

Flying insects sense the speed and direction of the wind to provide directional information used in chemical plume tracking. To model this plume tracking using a mobile robot, an appropriate wind sensor is required. This paper initially describes the design of a wind sensor for this purpose. The sensor utilises three wind speed measurement devices, thermal anemometers, to determine wind speed a...